Index Index
, Section
acceleration field (rigid body), Section
action screw
action-at-a-distance, Definition
contact forces, Definition
angular acceleration, Definition
angular velocity
definition, Theorem
loop equation, Theorem
quaternion formulation, Theorem
angular velocity: direction cosines, Section
axodes, fixed and moving, Definition
change of referential formula: acceleration, Section
change of referential formula: velocity, Section
constraint
holonomic, geometric, Definition
non-holonomic, kinematic, Definition
contact action
Coulomb law of sliding friction, Definition
frictionless contact, Definition
frictionless helical joint, Subsection Subsection
frictionless pivot, Subsection
frictionless planar joint, Subsection
frictionless slider, Subsection
frictionless slider-pivot, Subsection
pivoting friction, Definition
rolling friction, Definition
coordinate system
Cartesian, Subsection
cylindrical, Subsection
definition, Section
spherical, Subsection
direction cosines, Definition
displacement
definition, Definition
general form, Theorem
Mozzi-Chasles theorem, Theorem
rotation, Definition
screw axis, Theorem
screw displacement, Theorem
small angle rotation, Theorem
translation, Definition
dynamic screw
dynamic moment, Definition
of a material system, Definition
of system of rigid bodies, Theorem
Fundamental Theorem of Dynamics, Theorem
gravitational action
gravitational acceleration, Definition
gravitational field, Definition
law of gravitation, Definition
spherical body, Theorem
tidal acceleration, Definition
gyroscope
definition, Definition
gyroscopic approximation, Theorem
ideal joint, Definition
inertia operator
definition, Definition
inertia matrix, Definition
parallel axis theorem, Theorem
principal axes of inertia, Theorem
inertia operator!
moment, product of inertia, Definition
kinematic loop formula, Theorem
kinematic pairs!lower pairs, Subsection
kinematic pairs:higher pairs, Subsection
kinematic screw, Section
kinematic screw: equiprojectivity, Section
kinematic screw: instantaneous screw axis, Corollary
kinetic energy
of system of rigid bodies, Theorem
rigid body, Theorem
Kinetic Energy Theorem!single body, Theorem
Kinetic Energy Theorem!system of rigid bodies, Theorem
kinetic screw
angular momentum, Definition
angular momentum (rigid body), Theorem
linear momentum, Definition
of a material system, Definition
of system of rigid bodies, Theorem
Lagrange equations
single body, Theorem
system of rigid bodies, Theorem
with multipliers, Theorem
Lagrange kinematic formula, Theorem
Newtonian referentials, Theorem
Painlevé equation, Theorem
Painlevé first integral, Theorem
Pappus’ centroid theorems, Theorem
partial kinematic screw, Theorem
planar motion, Section
definition, Definition
instantaneous center of rotation, Theorem
planar motion: centrodes, Subsection
planar motion: instantaneous center of acceleration, Subsection
planar motion: Kennedy’s theorem, Subsection
point contact
pivoting, rolling, Definition
point contact:slip velocity, Definition
potential energy!external action, Subsection
potential energy!interaction, Subsection
power coefficient, Definition
power coefficient of interaction, Definition
power!interaction, Definition
power!mechanical action, Definition
Principle of Virtual Power
material system, Theorem
system of particles, Theorem
quaternion
algebraic rules, Paragraph
definition, Section
unit quaternion, Paragraph
quaternions and rotations, Section
quaternions!multiplication rule, Paragraph
quaternions: correspondence with rotations, Paragraph
relative motion analysis!velocity, Section
rotation, Section
composition, Paragraph
direction cosine matrix, Paragraph
group, Remark
vector operator, Section
screws, Section
axis, Definition
equiprojectivity, Theorem
pitch, Theorem
product, Section
scalar invariant, Theorem
sum of two sliders, Theorem
three-point theorem, Theorem
screws: axis, Section
screws: couple, sliders, Section
screws: time-derivative, Section
velocity amd acceleration: Cartesian coordinates, Subsection
velocity and acceleration: tangential and normal components, Section
velocity and acceleration: cylindrical coordinates, Subsection
velocity and acceleration: spherical coordinates, Paragraph
velocity field: rigid body, Section
velocity, acceleration: definition, Section
